Biological micromanipulation instrument axial movement mechanism capable of adjusting oblique movement angle

Abstract

The invention relates to a biological micromanipulation instrument axial movement mechanism capable of adjusting an oblique movement angle. The biological micromanipulation instrument axial movement mechanism comprises an angle adjusting assembly, an axial movement module and a manipulator which are sequentially arranged from top to bottom, the angle adjusting assembly comprises a reference plate which is transversely arranged, an adjusting shaft which is transversely and rotatably connected to the bottom of the reference plate and moves forwards and backwards, an adjusting plate which is transversely arranged below the adjusting shaft, a worm gear which is fixedly arranged outside the adjusting shaft in a sleeving manner, and a first servo motor which is fixed at the bottom of the reference plate; the worm is concentrically fixed to a rotating shaft of the first servo motor and meshed with the worm gear, the two ends of the adjusting shaft are fixed to the adjusting plate, and the rotating shaft of the first servo motor is transversely arranged leftwards or rightwards; the accuracy of puncture or injection operation can be remarkably improved, so that the experiment effect is ensured, and experiment failure is avoided; and the operation speed is greatly accelerated, so that the effects of saving time and labor are achieved, and the use is greatly facilitated.

Description

Technical Field

[0001] The invention relates to the technical field of biological experimental instruments, in particular to an axial motion mechanism of a biological micromanipulator capable of adjusting the oblique motion angle. Background Art

[0002] The biological micromanipulator is a precision optical instrument, mainly used for microsurgery and injection of cells under a microscope. It uses a micromanipulation system (including an inverted microscope or stereo microscope and a micromanipulator) to perform operations such as cell nucleus transplantation, gene injection, embryo cutting, etc. It can also be used to separate single cells; the biological micromanipulator usually includes an eyepiece, an objective lens, a stage, a reflector (light collecting mirror) and a manipulator; the eyepiece usually consists of an upper and lower lens, and the objective lens is installed on the rotator at the lower end of the lens barrel. The manipulator can be used to fix detection tools (such as puncture needles, syringes, etc.).

[0003] The stage in the existing biological micromanipulators is built with an axial motion mechanism, which is used to control the lateral movement amplitude of the stage to help focus, ensure the precise position and clarity of the sample in the field of view to cooperate with the operation of the manipulator, which means that if you want to find the operating part on the sample, you can only adjust the position of the stage through the axial motion mechanism to adapt to the position of the manipulator, which is more troublesome to operate. At the same time, since the current axial motion mechanism has a single adjustment function, it can only move in the four directions of front, back, left and right in the horizontal direction and cannot be tilted, and most of the manipulators can only adjust the height and cannot be tilted, which makes it difficult to change the microscopic puncture or injection angle according to actual needs to achieve the best angle, thereby resulting in low accuracy of puncture or injection operations, thereby affecting the experimental effect or even causing the experiment to fail, seriously hindering its actual use in the field of biological research and production; in addition, the movement accuracy of the axial motion mechanism is not high and requires manual operation, so the operation speed is slow, time-consuming and labor-intensive, and extremely inconvenient to use, which urgently needs to be solved. Summary of the invention

[0004] In view of the current status of the above-mentioned prior art, the technical problem to be solved by the present invention is to provide an axial motion mechanism of a biological micromanipulator with an adjustable oblique motion angle, which greatly increases the adjustment function, so that the microscopic puncture or injection angle can be accurately changed according to actual needs to achieve an optimal angle, thereby significantly improving the accuracy of the puncture or injection operation to ensure the experimental effect and avoid experimental failure. At the same time, the operation steps are greatly simplified to speed up the operation, which not only achieves the effect of saving time and labor and greatly facilitates use, but also improves the operating efficiency.

[0005] The technical solution adopted by the present invention to solve the above technical problems is: an axial motion mechanism of a biological micromanipulator capable of adjusting the oblique motion angle, characterized in that it comprises an angle adjustment component, an axial movement module and a manipulator arranged in sequence from top to bottom;

[0006] The angle adjustment assembly includes a horizontally arranged reference plate, an adjustment shaft horizontally and rotatably connected to the bottom of the reference plate and extending forward and backward, an adjustment plate horizontally arranged below the adjustment shaft, a worm gear sleeved and fixed outside the adjustment shaft, a first servo motor fixed to the bottom of the reference plate, and a worm screw concentrically fixed to the rotating shaft of the first servo motor and meshing with the worm gear, both ends of the adjustment shaft are fixed to the adjustment plate, and the rotating shaft of the first servo motor is horizontally arranged to the left or right;

[0007] The operator is arranged at the bottom of the adjustment plate through an axial movement module, and the operator can have the function of front-back and left-right translation in a direction parallel to the adjustment plate through the axial movement module;

[0008] The operator comprises an inverted and rotatable U-shaped hanger connected to the moving end of the axial moving module, two arc-shaped backboard strips respectively fixed on the inner walls on both sides of the opening of the U-shaped hanger and symmetrically arranged with each other, and two operating units respectively arranged on the two arc-shaped backboard strips, and the openings of the two arc-shaped backboard strips are both arranged downwards;

[0009] The operating unit comprises a positioning seat movably connected to the inner wall of the arc-shaped backboard strip to slide along the central axis of the arc-shaped backboard strip, an extension arm fixed to the positioning seat, and a needle tube detachably fixed to the end of the extension arm;

[0010] The operating unit also includes an arc-shaped rack concentrically fixed on the inner wall of the arc-shaped back plate strip, a second servo motor fixed on the positioning seat, and a gear concentrically fixed on the rotating shaft of the second servo motor, the rotating shaft of the second servo motor is arranged horizontally and perpendicular to the arc-shaped back plate strip, and the gear is meshed on the arc-shaped tooth surface of the arc-shaped rack;

[0011] The operating unit also includes an arc grating ruler arranged between the arc back plate strip and the second servo motor or the positioning seat, and the arc grating ruler includes an arc scale grating concentrically fixed on the arc back plate strip and a grating reading head fixed on the second servo motor or the positioning seat and cooperating with the arc scale grating.

[0012] Preferably, the axial movement module includes a fixed plate fixed at the bottom of the adjustment plate and parallel to the adjustment plate, a movable plate arranged parallel to the bottom of the fixed plate, two first drive units arranged between the movable plate and the fixed plate and symmetrically distributed left and right, two second drive units arranged between the movable plate and the fixed plate and symmetrically distributed front and back, and a third servo motor embedded and fixed at the bottom of the movable plate, and the rotating shaft of the third servo motor is arranged downward and vertically fixed at the top of the U-shaped hanger.

[0013] Preferably, the first driving unit includes a first driving motor fixed to the bottom of the fixed plate, a first lead screw rotatably connected to the bottom of the fixed plate and moving forward and backward, a first traction block sleeved and screwed outside the first lead screw, and a first movable block and a second movable block respectively arranged up and down, the rotating shaft of the first driving motor is concentrically fixed to one end of the first lead screw, the top of the first movable block is movably connected to the bottom of the fixed plate to have a forward and backward translation function, the bottom of the first movable block is movably connected to the top of the second movable block to have a left and right translation function, the bottom of the second movable block is fixed to the top of the movable plate, and the first traction block is fixed to one side of the second movable block.

[0014] Preferably, the second driving unit includes a second driving motor fixed to the bottom of the fixed plate, a second lead screw rotatably connected to the bottom of the fixed plate and moving forward and backward, a second traction block sleeved and screwed outside the second lead screw, and a third moving block and a fourth moving block respectively arranged up and down, the rotating shaft of the second driving motor is concentrically fixed to one end of the second lead screw, the top of the third moving block is movably connected to the bottom of the fixed plate to have a left and right translation function, the bottom of the third moving block is movably connected to the top of the fourth moving block to have a front and back translation function, the bottom of the fourth moving block is fixed to the top of the moving plate, and the second traction block is fixed to one side of the fourth moving block.

[0015] Preferably, the operator also includes a positioning ring fixed between the two ends of each arc-shaped back panel strip, two hanging plates respectively fixed on the outer walls on both sides of the opening of the U-shaped hanger and both are inclined, and a spherical cover concentrically arranged on the inner side of the positioning ring, and the ends of the two hanging plates both pass inward through the opening of an arc-shaped back panel strip on the same side and are both fixed on the spherical cover.

[0016] Preferably, the opening of the spherical cover is arranged downward, the center of the circumferential sliding trajectory of the positioning seat coincides with the center of the spherical cover, a positioning groove is provided on the top of the spherical cover, and the end of the needle tube close to the spherical cover is movably inserted in the positioning groove and faces the center of the spherical cover.

[0017] Preferably, an annular flange is formed outwardly at the edge of the opening of the spherical cover, and correspondingly, an arc-shaped connecting strip is formed outwardly at the end of each of the two hanging plates, and the two arc-shaped connecting strips are arranged diagonally to each other and are fixed on the annular flange.

[0018] Preferably, an arc-shaped groove is provided on the top outer wall of the arc-shaped back panel strip, the arc-shaped scale grating is concentrically fixed in the arc-shaped groove, and the grating reading head extends into the arc-shaped groove and cooperates with the arc-shaped scale grating.

[0019] Compared with the prior art, the advantages of the present invention are as follows: the present invention transfers the axial motion mechanism originally built into the stage to the manipulator, so that the stage and the sample on the stage remain stationary, and the position and angle of the needle tube are adjusted with the help of the manipulator to find the operation site on the sample, and an angle adjustment component is added to the axial motion mechanism, so that the manipulator can be tilted with the help of the angle adjustment component to adjust the oblique movement angle of the manipulator 8, and the manipulator can have the function of forward and backward and left and right translation in the tilted state with the help of the axial movement module; the two operating units in the manipulator can also slide circumferentially to directly adjust the insertion angle of the needle tube, which greatly increases the adjustment function of the biological micromanipulator. The adjustment function can make the microscopic puncture or injection angle be accurately changed according to actual needs to achieve the best angle, thereby significantly improving the accuracy of the puncture or injection operation to ensure the experimental effect and avoid experimental failure, and effectively promoting the actual use of biological micromanipulators in biological research and production fields; at the same time, the adjustment of position and angle does not require manual operation, but is carried out automatically and accurately, thereby greatly simplifying the operation steps to speed up the operation speed, thereby achieving the effect of saving time and labor and greatly facilitating use; in addition, since the present invention is provided with two operating units, there are two needle tubes, which can operate two positions on the sample at the same time, thereby improving the operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is the exploded structural diagram of the left front side of the present invention;

[0021] Figure 2 It is a left front structural diagram of the operator of the present invention;

[0022] Figure 3 It is a left front structural diagram of the positioning ring, the hanging plate and the spherical cover of the present invention;

[0023] Figure 4 It is a bottom-up structural diagram of the axially movable module of the present invention from the right front side;

[0024] Figure 5 It is a left front side distribution position and structural decomposition diagram of the first moving block and the second moving block in the two first driving units and the third moving block and the fourth moving block in the two second driving units of the present invention. DETAILED DESCRIPTION

[0025] Unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly. The term "and / or" is only a description of the association relationship of associated objects, indicating that there can be three relationships, such as A and / or B, which can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0026] In order to keep the following description of the embodiments of the present invention clear and concise, detailed descriptions of well-known functions and well-known components are omitted.

[0027] like Figures 1 to 5 As shown, an axial motion mechanism of a biological micromanipulator capable of adjusting the oblique motion angle comprises an angle adjustment component, an axial movement module 7 and a manipulator 8 arranged in sequence from top to bottom;

[0028] The angle adjustment assembly includes a horizontally arranged reference plate 1, a horizontally rotatably connected to the bottom of the reference plate 1 and extending forward and backward, an adjustment plate 3 horizontally arranged below the adjustment shaft 2, a worm gear 4 sleeved and fixed outside the adjustment shaft 2, a first servo motor 5 fixed to the bottom of the reference plate 1, and a worm 6 concentrically fixed on the rotating shaft of the first servo motor 5 and meshing with the worm gear 4, both ends of the adjustment shaft 2 are fixed on the adjustment plate 3, and the rotating shaft of the first servo motor 5 is horizontally arranged to the left or right;

[0029] The operator 8 is arranged at the bottom of the adjustment plate 3 through the axial movement module 7. The operator 8 can have the functions of front-back and left-right translation in the direction parallel to the adjustment plate 3 through the axial movement module 7.

[0030] The operator 8 includes an inverted U-shaped hanger 82 rotatably connected to the moving end of the axial moving module 7, two arc-shaped backboard strips 83 respectively fixed on the inner walls of both sides of the opening of the U-shaped hanger 82 and symmetrically arranged with each other, and two operating units respectively arranged on the two arc-shaped backboard strips 83, and the openings of the two arc-shaped backboard strips 83 are both arranged downwards;

[0031] The operating unit includes a positioning seat 85 movably connected to the inner wall of the arc-shaped backboard strip 83 to have the function of sliding circumferentially along the central axis of the arc-shaped backboard strip 83, an extension arm 86 fixed to the positioning seat 85, and a needle tube 811 detachably fixed to the end of the extension arm 86;

[0032] The operating unit further comprises an arc-shaped rack 84 concentrically fixed on the inner wall of the arc-shaped back plate strip 83, a second servo motor 88 fixed on the positioning seat 85, and a gear 87 concentrically fixed on the rotating shaft of the second servo motor 88, the rotating shaft of the second servo motor 88 is arranged transversely and perpendicular to the arc-shaped back plate strip 83, and the gear 87 is meshed on the arc-shaped tooth surface of the arc-shaped rack 84;

[0033] The operating unit also includes an arc grating scale arranged between the arc back strip 83 and the second servo motor 88 or the positioning seat 85. The arc grating scale includes an arc scale grating 89 concentrically fixed on the arc back strip 83 and a grating reading head 810 fixed on the second servo motor 88 or the positioning seat 85 and cooperating with the arc scale grating 89.

[0034] The axial movement module 7 includes a fixed plate 71 fixed at the bottom of the adjustment plate 3 and parallel to the adjustment plate 3, a movable plate 72 arranged parallel to the bottom of the fixed plate 71, two first drive units 73 arranged between the movable plate 72 and the fixed plate 71 and symmetrically distributed left and right, two second drive units 74 arranged between the movable plate 72 and the fixed plate 71 and symmetrically distributed front and back, and a third servo motor 75 embedded and fixed at the bottom of the movable plate 72, and the rotating shaft of the third servo motor 75 is arranged downward and vertically fixed at the top of the U-shaped hanger 82.

[0035] The first driving unit 73 includes a first driving motor 731 fixed to the bottom of the fixed plate 71, a first lead screw 732 rotatably connected to the bottom of the fixed plate 71 and moving forward and backward, a first traction block 733 sleeved and screwed outside the first lead screw 732, and a first moving block 734 and a second moving block 735 respectively arranged up and down. The rotating shaft of the first driving motor 731 is concentrically fixed to one end of the first lead screw 732, the top of the first moving block 734 is movably connected to the bottom of the fixed plate 71 to have a forward and backward translation function, the bottom of the first moving block 734 is movably connected to the top of the second moving block 735 to have a left and right translation function, the bottom of the second moving block 735 is fixed to the top of the moving plate 72, and the first traction block 733 is fixed to one side of the second moving block 735.

[0036] The second driving unit 74 includes a second driving motor 741 fixed to the bottom of the fixed plate 71, a second lead screw 742 rotatably connected to the bottom of the fixed plate 71 and moving forward and backward, a second traction block 743 sleeved and screwed outside the second lead screw 742, and a third moving block 744 and a fourth moving block 745 respectively arranged up and down. The rotating shaft of the second driving motor 741 is concentrically fixed to one end of the second lead screw 742, the top of the third moving block 744 is movably connected to the bottom of the fixed plate 71 to have a left and right translation function, the bottom of the third moving block 744 is movably connected to the top of the fourth moving block 745 to have a front and back translation function, the bottom of the fourth moving block 745 is fixed to the top of the movable plate 72, and the second traction block 743 is fixed to one side of the fourth moving block 745.

[0037] The operator 8 also includes a positioning ring 81 fixed between the two ends of each arc-shaped back panel strip 83, two hanging plates 812 respectively fixed on the outer walls on both sides of the opening of the U-shaped hanger 82 and both are inclined, and a spherical cover 813 concentrically arranged on the inner side of the positioning ring 81, and the ends of the two hanging plates 812 both pass inward through the opening of an arc-shaped back panel strip 83 on the same side and are both fixed on the spherical cover 813.

[0038] The opening of the spherical cover 813 is set downward, the center of the circumferential sliding trajectory of the positioning seat 85 coincides with the center of the spherical cover 813, and a positioning groove 8131 is opened on the top of the spherical cover 813. The end of the needle tube 811 close to the spherical cover 813 is movably inserted in the positioning groove 8131 and faces the center of the spherical cover 813.

[0039] An annular flange 8132 is formed outwardly at the edge of the opening of the spherical cover 813 . Correspondingly, an arc-shaped connecting strip 8121 is formed outwardly at the end of each of the two hanging plates 812 . The two arc-shaped connecting strips 8121 are arranged diagonally to each other and are fixed on the annular flange 8132 .

[0040] An arc-shaped groove 831 is opened on the top outer wall of the arc-shaped back panel strip 83, and the arc-shaped scale grating 89 is concentrically fixed in the arc-shaped groove 831. The grating reading head 810 extends into the arc-shaped groove 831 and cooperates with the arc-shaped scale grating 89.

[0041] Directions:

[0042] First, install the sample to be tested on the stage of the biological micromanipulator, and then adjust the position and angle of the needle tube 811 in the two operating units; when adjusting, first start the first servo motor 5 to rotate its rotating shaft, and then drive the adjustment plate 3 to rotate clockwise or counterclockwise with the help of the mutual meshing relationship between the worm 6 and the worm wheel 4, so as to drive the operator 8 to rotate synchronously with the help of the axial movement module 7, thereby completing the coarse adjustment of the position and angle of the needle tube 811.

[0043] Next, the first driving motors 731 in the two first driving units 73 are started simultaneously to rotate their rotating shafts, thereby driving the two first lead screws 732 to rotate synchronously, thereby driving the two first traction blocks 733 to move forward or backward according to the principle of spiral connection. Since the first moving block 734 and the second moving block 735 can only translate relative to each other left and right but not front and back, and since the first moving block 734 and the fixed plate 71 can translate relative to each other front and back but not left and right, the two first traction blocks 733 will drive the moving plate 72 forward or backward with the help of the two second moving blocks 735. It translates backward, thereby driving the operator 8 to translate forward or backward as a whole, so as to precisely adjust the front and rear position of the operator 8 when the operator 8 is in a tilted direction; in this process, since the third moving block 744 and the fourth moving block 745 in each second drive unit 74 can only translate forward and backward relative to each other but not forward and backward relative to each other, and the third moving block 744 and the fourth moving block 745 can only translate forward and backward relative to each other but not left and right relative to each other, the movable plate 72 will drive the third moving block 744 to move synchronously when it translates forward or backward, while the fourth moving block 745 remains stationary.

[0044] Similarly, if the second drive motors 741 in the two second drive units 74 are started to rotate their rotating shafts, the movable plate 72 will be driven to translate to the left or right, and then the operator 8 will be driven to translate to the left or right as a whole, thereby precisely adjusting the left and right positions of the operator 8 when the operator 8 is in a tilted state.

[0045] Next, the second servo motor 88 in any operating unit is started to rotate its rotating shaft, and then the gear 87 is forced to roll along the arc-shaped tooth surface of the arc-shaped rack 84 by means of the mutual engagement of the gear 87 and the arc-shaped rack 84, and then the needle tube 811 is driven to move circumferentially by means of the positioning seat 85 and the extension arm 86, so as to adjust the insertion angle of the needle tube 811; in addition, the third servo motor 75 can be started as needed to rotate its rotating shaft, and then the entire operator 8 is driven to rotate while in an inclined position by means of the U-shaped hanger 82 to adjust the circumferential position of the needle tube 811 relative to the sample.

[0046] When the needle tube 811 moves in the circumferential direction, the grating reading head 810 will read the position on the arc scale grating 89 in real time and accurately control the moving angle of the needle tube 811; since the present invention is provided with two operating units, the needle tubes 811 in the two operating units can sample two different parts of the sample at the same time.

[0047] The present invention transfers the axial motion mechanism originally built into the stage to the manipulator 8, so that the stage and the sample on the stage remain stationary, and the position and angle of the needle tube 811 are adjusted with the help of the manipulator 8 to find the operation position on the sample, and an angle adjustment component is added to the axial motion mechanism, so that the manipulator 8 can be tilted with the help of the angle adjustment component to adjust the oblique movement angle of the manipulator 8, and the manipulator 8 can have the function of front-back and left-right translation in the tilted state with the help of the axial movement module 7; the two operating units in the manipulator 8 can also slide circumferentially to directly adjust the insertion angle of the needle tube 811, which greatly increases the adjustment function of the biological micromanipulator. Therefore, the microscopic puncture or injection angle can be precisely changed according to actual needs to achieve the optimal angle, thereby significantly improving the accuracy of the puncture or injection operation to ensure the experimental effect and avoid experimental failure, and effectively promoting the actual use of biological micromanipulators in biological research and production fields; at the same time, the adjustment of the position and angle does not require manual operation, but is performed automatically and accurately, thereby greatly simplifying the operating steps to speed up the operation, thereby achieving the effect of saving time and labor and greatly facilitating use; in addition, since the present invention is provided with two operating units, there are two needle tubes 811, which can operate two positions on the sample at the same time, thereby improving the operating efficiency.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An axial motion mechanism of a biological micromanipulator with adjustable oblique motion angle, characterized in that: It includes an angle adjustment component, an axial movement module and an operator which are arranged in sequence from top to bottom; The angle adjustment assembly includes a horizontally arranged reference plate, an adjustment shaft horizontally and rotatably connected to the bottom of the reference plate and extending forward and backward, an adjustment plate horizontally arranged below the adjustment shaft, a worm gear sleeved and fixed outside the adjustment shaft, a first servo motor fixed to the bottom of the reference plate, and a worm screw concentrically fixed to the rotating shaft of the first servo motor and meshing with the worm gear, both ends of the adjustment shaft are fixed to the adjustment plate, and the rotating shaft of the first servo motor is horizontally arranged to the left or right; The operator is arranged at the bottom of the adjustment plate through an axial movement module, and the operator can have the function of front-back and left-right translation in a direction parallel to the adjustment plate through the axial movement module; The operator comprises an inverted and rotatable U-shaped hanger connected to the moving end of the axial moving module, two arc-shaped backboard strips respectively fixed on the inner walls on both sides of the opening of the U-shaped hanger and symmetrically arranged with each other, and two operating units respectively arranged on the two arc-shaped backboard strips, and the openings of the two arc-shaped backboard strips are both arranged downwards; The operating unit comprises a positioning seat movably connected to the inner wall of the arc-shaped backboard strip to slide along the central axis of the arc-shaped backboard strip, an extension arm fixed to the positioning seat, and a needle tube detachably fixed to the end of the extension arm; The operating unit also includes an arc-shaped rack concentrically fixed on the inner wall of the arc-shaped back plate strip, a second servo motor fixed on the positioning seat, and a gear concentrically fixed on the rotating shaft of the second servo motor, the rotating shaft of the second servo motor is arranged horizontally and perpendicular to the arc-shaped back plate strip, and the gear is meshed on the arc-shaped tooth surface of the arc-shaped rack; The operating unit also includes an arc grating ruler arranged between the arc back plate strip and the second servo motor or the positioning seat, and the arc grating ruler includes an arc scale grating concentrically fixed on the arc back plate strip and a grating reading head fixed on the second servo motor or the positioning seat and cooperating with the arc scale grating.

2. The axial motion mechanism of a biological micromanipulator with adjustable oblique motion angle according to claim 1, characterized in that: The axial movement module includes a fixed plate fixed at the bottom of the adjustment plate and parallel to the adjustment plate, a movable plate arranged parallel to the bottom of the fixed plate, two first drive units arranged between the movable plate and the fixed plate and symmetrically distributed left and right, two second drive units arranged between the movable plate and the fixed plate and symmetrically distributed front and back, and a third servo motor embedded and fixed at the bottom of the movable plate, and the rotating shaft of the third servo motor is arranged downward and vertically fixed at the top of the U-shaped hanger.

3. The axial motion mechanism of a biological micromanipulator with adjustable oblique motion angle according to claim 2, characterized in that: The first driving unit includes a first driving motor fixed to the bottom of the fixed plate, a first lead screw rotatably connected to the bottom of the fixed plate and moving forward and backward, a first traction block sleeved and screwed outside the first lead screw, and a first moving block and a second moving block respectively arranged up and down, the rotating shaft of the first driving motor is concentrically fixed to one end of the first lead screw, the top of the first moving block is movably connected to the bottom of the fixed plate to have a forward and backward translation function, the bottom of the first moving block is movably connected to the top of the second moving block to have a left and right translation function, the bottom of the second moving block is fixed to the top of the moving plate, and the first traction block is fixed to one side of the second moving block.

4. The axial motion mechanism of a biological micromanipulator with adjustable oblique motion angle according to claim 2, characterized in that: The second driving unit includes a second driving motor fixed to the bottom of the fixed plate, a second lead screw rotatably connected to the bottom of the fixed plate and moving forward and backward, a second traction block sleeved and screwed outside the second lead screw, and a third moving block and a fourth moving block respectively arranged up and down, the rotating shaft of the second driving motor is concentrically fixed to one end of the second lead screw, the top of the third moving block is movably connected to the bottom of the fixed plate to have a left and right translation function, the bottom of the third moving block is movably connected to the top of the fourth moving block to have a front and back translation function, the bottom of the fourth moving block is fixed to the top of the moving plate, and the second traction block is fixed to one side of the fourth moving block.

5. The axial motion mechanism of a biological micromanipulator with adjustable oblique motion angle according to claim 1, characterized in that: The operator also includes a positioning ring fixed between the two ends of each arc-shaped back panel strip, two hanging plates respectively fixed on the outer walls on both sides of the opening of the U-shaped hanger and both inclined, and a spherical cover concentrically arranged on the inner side of the positioning ring, and the ends of the two hanging plates both pass inwardly through the opening of an arc-shaped back panel strip on the same side and are both fixed on the spherical cover.

6. The axial motion mechanism of a biological micromanipulator with adjustable oblique motion angle according to claim 5, characterized in that: The opening of the spherical cover is arranged downward, the center of the circumferential sliding trajectory of the positioning seat coincides with the center of the spherical cover, a positioning groove is provided on the top of the spherical cover, and one end of the needle tube close to the spherical cover is movably inserted in the positioning groove and faces the center of the spherical cover.

7. The axial motion mechanism of a biological micromanipulator with adjustable oblique motion angle according to claim 6, characterized in that: The edge of the opening of the spherical cover is formed with an annular flange outwardly, and correspondingly, the ends of the two hanging plates are each formed with an arc-shaped connecting strip outwardly, and the two arc-shaped connecting strips are arranged diagonally to each other and are both fixed on the annular flange.

8. The axial motion mechanism of a biological micromanipulator with adjustable oblique motion angle according to claim 1, characterized in that: An arc-shaped groove is provided on the top outer wall of the arc-shaped back plate strip, the arc-shaped scale grating is concentrically fixed in the arc-shaped groove, and the grating reading head extends into the arc-shaped groove and cooperates with the arc-shaped scale grating.

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